rosbag2_storage_broll

rosbag2_storage_broll

Rosbag2 storage plugin that can read videos using B-Roll libraries.

Example:

ros2 bag play data/camera_0.mp4 --loop

Feature in this package:

• rosbag2_storage_broll storage implementation
• rosbag2_storage_broll::bag_utils exported utility library that contains some useful functions for manipulating bags

Storage Plugin rosbag2_storage_broll

Rosbag2 allows passing arbitrary configuration to a storage plugin via the --storage-config-file option. rosbag2_storage_broll takes a YAML file with the following fields:

ns: optional<string>  # namespace for published topics, must end with a /, default "video/"
compressed_topic: optional<string>  # compressed frame topic, default "compressed"
frame_id: optional<string>  # tf frame ID to apply to message headers

TODO(emersonknapp): This plugin should also handle standard bags with CompressedImage topic inside. There is no fundamental blocker for this.

bag_utils library

See bag_utils.hpp for details